CN113520597B - Surgical instrument with joint linkage - Google Patents
Surgical instrument with joint linkage Download PDFInfo
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- CN113520597B CN113520597B CN202010297457.9A CN202010297457A CN113520597B CN 113520597 B CN113520597 B CN 113520597B CN 202010297457 A CN202010297457 A CN 202010297457A CN 113520597 B CN113520597 B CN 113520597B
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- joint
- linkage
- driving
- tendons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
Abstract
The invention relates to a surgical instrument, in particular to a joint linkage surgical instrument, which comprises a proximal end section joint group, a linkage section joint group, a distal end section joint group, a rotating component and an actuator, wherein each section joint group has deflection in two freedom directions, and the motion of the joint in the linkage section joint group and the motion of the joint in the proximal end section joint group corresponding to the joint in the linkage section joint group have the same amplitude and are opposite; the linkage section driving tendon is respectively fixed on the base of the near end and the tail end of the linkage section, and two ends of a sheath tube for the far end section driving tendon are respectively fixed on the joint base of the near end and the tail end of the linkage section joint group, namely the far end driving tendon passes through the joint parts of the near end section and the far end section, and the outer side of the driving tendon is provided with the sheath tube and an actuator driving tendon. The invention can realize the unfolding space required by the operation, separate the position and the posture of the far end, and realize that the joint driving of the near end section and the far end section are not interfered with each other, so as to weaken the strong coupling state between the driving space and the operation space of the traditional operation mechanical arm.
Description
Technical Field
The invention relates to a surgical instrument, in particular to a joint linkage surgical instrument.
Background
The single-port laparoscopic surgery robot is used for placing an endoscope and a plurality of surgical instruments into an abdominal cavity through a single surgical incision, and cooperatively operating the surgical instruments under the guidance of an image to complete a surgery task, and has the outstanding advantages of small wound, small bleeding amount, short recovery time, low surgery risk, low complication rate and the like. The end instrument of the single-port laparoscopic surgery robot needs to be unfolded in the operation after entering the abdominal cavity through the puncture outfit. However, the single-port laparoscopic surgical robot still has the problems that the expansion of the proximal section and the joint of the distal end interfere with each other, and the coupling between the drives is serious.
Disclosure of Invention
In order to solve the above problems of the existing single-port laparoscopic surgical robot, the present invention aims to provide a joint-linked surgical instrument. The joint linkage surgical instrument realizes the expansion space required by operations such as single-hole endoscopy and the like by utilizing a joint linkage mode, and the action of a rotating part and an actuator cannot be influenced; and moreover, the flexibility required in the operation is realized by adopting fewer driving numbers, the operation can be better completed by a doctor, the whole structure is compact, and the requirements of the size, small size, high load capacity and the like of each joint angle are met.
The purpose of the invention is realized by the following technical scheme:
the invention comprises a base rod piece, a linkage pre-tightening rod, a near-end section joint group, a linkage connecting rod, a linkage section joint group, a far-end section joint group, a rotating part and an actuator which are sequentially connected, wherein each section joint group is provided with a yaw joint and a pitching joint with the same structure, each yaw joint and each pitching joint comprises a joint base, a joint rotating part, a roller A, a rotating shaft and a roller B, the joint bases and the joint rotating parts are rotatably connected through the rotating shafts, the rollers A and the rollers B are respectively arranged on the rotating shafts, and a plurality of holes for driving tendons to pass through are respectively formed in the end surfaces of the joint bases and the joint rotating parts; the axial center line of the rotating shaft of the yaw joint in each section of joint group and the axial center line of the rotating shaft of the pitch joint in the same section of joint group are arranged in a staggered manner; the near-end yawing joint and the near-end pitching joint in the near-end section joint group and the far-end yawing joint and the far-end pitching joint in the far-end section joint group are driven by respective active driving tendons to realize the degree of freedom, one ends of the active driving tendons are connected with the near-end yawing joint, the near-end pitching joint, the far-end yawing joint and the far-end pitching joint, and the other ends of the active driving tendons are connected with a driving tendon driving mechanism after passing through the linkage pre-tightening rod and the base rod piece; the rollers A of the near-end yaw joint, the near-end pitch joint, the far-end yaw joint and the far-end pitch joint are in contact with the active driving tendons of the near-end yaw joint, the near-end pitch joint, the far-end yaw joint and the far-end pitch joint, and the rollers B of the near-end yaw joint, the near-end pitch joint, the far-end yaw joint and the far-end pitch joint are used for being in contact with the active driving tendons of the adjacent lower-level joints; the linkage pitch joint and the linkage yaw joint in the linkage section joint group are connected with respective linkage driving tendons, one end of the linkage driving tendon of the linkage pitch joint is fixed on a joint rotating part of the linkage pitch joint, and the other end of the linkage driving tendon of the linkage pitch joint sequentially passes through the roller A of the linkage pitch joint, a joint base of the linkage pitch joint, a linkage connecting rod and a near-end pitch joint and is fixed on a joint base of the near-end pitch joint; one end of a linkage driving tendon of the linkage yawing joint is fixed on a joint rotating part of the linkage yawing joint, and the other end of the linkage driving tendon passes through a roller A of the linkage yawing joint, a joint base of the linkage yawing joint, a linkage pitching joint, a linkage connecting rod, a near-end pitching joint and a near-end yawing joint in sequence and is fixed on the linkage pre-tightening rod.
Wherein: the two active driving tendons or the two linkage driving tendons of each joint are in contact with the two sides of the roller A in the joint respectively and then penetrate through the joint rotating part in the joint, the two active driving tendons or the two linkage driving tendons of each joint are fixed on the joint rotating part through a chuck, the two roller B in each joint are in contact with the two active driving tendons or the two linkage driving tendons of the next-level joint, and the two active driving tendons or the two linkage driving tendons of the next-level joint are located on the two axial sides of the two roller B in contact with the two active driving tendons or the two linkage driving tendons.
The number of the active driving tendons is at least 12, the number of the near-end yaw joints, the number of the near-end pitch joints, the number of the far-end yaw joints, the number of the far-end pitch joints, the number of the rotating components and the number of the actuators are respectively 2, the number of the linkage driving tendons is at least 4, and the number of the linkage pitch joints and the number of the linkage yaw joints are respectively 2; the joint base and the holes in the joint rotating part of each joint comprise two near-end yaw joint driving tendon holes, two near-end pitch joint driving tendon holes, two linkage yaw joint driving tendon holes, two rotating part driving tendon holes and two actuator driving tendon holes, and every two same holes are arranged in a diagonal line; four holes provided with sheath tubes are further formed in joint bases and joint rotating parts of the near-end yawing joint, the near-end pitching joint, the linkage pitching joint and the linkage yawing joint, two far-end yawing joint driving tendons and two far-end pitching joint driving tendons can pass through the four sheath tubes, and the two far-end yawing joint driving tendons and the two far-end pitching joint driving tendons are arranged in a diagonal line.
The sheath tube is a flexible, bendable and axial pressure-resistant hollow tube, one end of the sheath tube is connected with the joint rotating part in the linkage yaw joint, and the other end of the sheath tube penetrates through the linkage pre-tightening rod and then is connected with the chuck seat arranged in the base rod piece.
The two adjacent joints of the proximal section and the linkage section have the same degree of freedom, namely the proximal pitch joint is connected with the linkage pitch joint through a linkage connecting rod, the linkage yaw joint is connected with the joint group of the distal section, or the proximal yaw joint is connected with the linkage yaw joint through the linkage connecting rod, and the linkage pitch joint is connected with the joint group of the distal section.
The axial center line of the rotating shaft in the linkage pitching joint is parallel to the axial center line of the rotating shaft in the near-end pitching joint, and the axial center line of the rotating shaft in the linkage yawing joint is parallel to the axial center line of the rotating shaft in the near-end yawing joint; the included angle of the axial center lines of the rotating shafts in the two adjacent joints connected with the linkage section and the far end section is any angle.
The whole surgical instrument is driven by a power source to have translational freedom.
The linkage connecting rod is divided into two parts with the same shape, namely a connecting rod A and a connecting rod B, the end surfaces of which are semicircular, one ends of the connecting rod A and the connecting rod B are connected with the joint base in the linkage pitching joint, and the other ends of the connecting rod A and the connecting rod B are connected with the joint rotating part in the near-end pitching joint; and pre-tightening the linkage driving tendon of the linkage pitching joint by adjusting the length of the linkage connecting rod.
The rotating part comprises a rotating shaft base, a rotating shaft and a shaft sleeve, the rotating shaft base is connected with a joint rotating part in the far-end pitching joint, one end of the rotating shaft is accommodated in the rotating shaft base, the other end of the rotating shaft is connected with the actuator, the rotating shaft is sleeved with the shaft sleeve capable of rotating relatively, and the shaft sleeve is fixed with the rotating shaft base; two driving drive tendons of the rotating component are wound on the rotating shaft respectively, the winding directions of the two driving drive tendons are opposite, and the actuator is rotated by driving the two driving drive tendons with opposite winding directions.
The rotary shaft is provided with two grooves A, the two driving tendons are wound in the two grooves A in opposite directions respectively, a groove B is arranged in each groove A, and the end parts of the two driving tendons are fixed in the grooves B in the grooves A through chucks; and a U-shaped snap ring used for limiting the axial direction of the rotating shaft is arranged in the groove A close to the shaft sleeve and is abutted against the shaft sleeve.
The invention has the advantages and positive effects that:
1. the invention realizes the unfolding space required by operations such as single-port laparoscopy and the like by utilizing a joint linkage mode, and does not influence the actions of the rotating component and the actuator.
2. The linkage design of the invention realizes the expansion of the single-hole surgical instrument in two freedom directions in the operation, reduces the number of the surgical instrument driving tendons, and simultaneously has the flexibility that the instrument meets the operation requirements and has no under-actuated form.
3. The invention realizes the requirement of joint linkage by adopting a cylindrical surface constraint mode, has compact integral structure and meets the requirements of the size, small size, high load capacity and the like of each joint angle.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is an exploded view of the yaw and pitch joints of the present invention;
FIG. 3 is a schematic end view of the joint base and the joint rotating part in FIG. 2;
FIG. 4 is a view of the drive tendon arrangement of the proximal segment joint set of the present invention;
FIG. 5 is a view of the arrangement of the drive tendons of the linkage segment joint set of the present invention;
FIG. 6 is a view of the drive tendon arrangement of the distal segment joint set of the present invention;
FIG. 7 is a schematic perspective view of a proximal segment joint set and a linkage segment joint set according to the present invention;
FIG. 8 is an exploded view of an actuator and rotating component of the present invention;
FIG. 9 is a schematic view of the structure of the rotating shaft and the driving tendon in FIG. 8;
wherein: 11 is a near-end yaw joint, 12 is a near-end pitch joint, 13 is a linkage pitch joint, 14 is a linkage yaw joint, 15 is a far-end yaw joint, 16 is a far-end pitch joint, 17 is a rotating component, 171 is a rotating shaft base, 172 is a rotating shaft, 1721 is a groove A, 1722 is a groove B, 173 is a U-shaped clamping ring, 174 is a shaft sleeve, 175 is a right-handed driving tendon, 176 is a left-handed driving tendon, and 18 is an actuator;
21 is a base rod piece, 22 is a linkage pre-tightening rod, 23 is a linkage connecting rod, 231 is a connecting rod A, 232 is a connecting rod B, and 24 is a chuck seat;
31 is a joint base, 32 is a joint rotating part, 33 is a roller A, 34 is a rotating shaft, 35 is a near-end yaw joint driving tendon, 36 is a chuck, 37 is a near-end pitch joint driving tendon, 38 is a roller B, and 39 is a linkage pitch joint driving tendon;
41 is a near-end yaw joint driving tendon hole, 42 is a near-end pitch joint driving tendon hole, 43 is a linkage pitch joint driving tendon hole, 44 is a linkage yaw joint driving tendon hole, 45 is a rotating component driving tendon hole, and 46 is an actuator driving tendon hole;
the joint driving tendon is a far-end yaw joint, the joint driving tendon is a far-end pitch joint, the joint driving tendon is a linkage yaw joint hole, and the joint driving tendon is a sheath 54.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, 2 and 3, the present invention includes a base rod 21, a linkage pre-tightening rod 22, a proximal end section joint group, a linkage connecting rod 23, a linkage section joint group, a distal end section joint group, a rotating component 17 and an actuator 18, which are connected in sequence, wherein each section joint group has a yaw joint and a pitch joint with the same structure, the yaw joint and the pitch joint include a joint base 31, a joint rotating portion 32, a roller a33, a rotating shaft 34 and a roller B38, the joint base 31 and the joint rotating portion 32 are rotatably connected through the rotating shaft 34, the rotating shaft 34 is respectively provided with a roller a33 and a roller B38, and the end surfaces of the joint base 31 and the joint rotating portion 32 are respectively provided with a plurality of holes for passing driving tendons. The axial center line of the rotating shaft 34 of the yaw joint in each joint group section is staggered with the axial center line of the rotating shaft 34 of the pitch joint in the same joint group section, and the setting angle of the yaw joint and the pitch joint in each joint group section is different by 90 degrees. The near-end yawing joint 11 and the near-end pitching joint 12 in the near-end section joint group and the far-end yawing joint 15 and the far-end pitching joint 16 in the far-end section joint group are driven by respective active driving tendons to realize the degree of freedom, one ends of the active driving tendons are connected with the near-end yawing joint 11, the near-end pitching joint 12, the far-end yawing joint 15 and the far-end pitching joint 16, and the other ends of the active driving tendons are connected with a driving tendon driving mechanism after passing through a linkage pre-tightening rod 22 and a base rod piece 21. The roller a33 of each of the proximal yaw joint 11, the proximal pitch joint 12, the distal yaw joint 15 and the distal pitch joint 16 is in contact with the respective active drive tendon and the respective roller B38 is for contact with the active drive tendon of the adjacent inferior joint. The linkage pitch joint 13 and the linkage yaw joint 14 in the linkage section joint group are connected with respective linkage driving tendons, one end of the linkage driving tendon of the linkage pitch joint 13 is fixed on the joint rotating part 32 of the linkage pitch joint 13, and the other end of the linkage driving tendon of the linkage pitch joint 13 passes through the roller A33 of the linkage pitch joint 13, the joint base 31 of the linkage pitch joint 13, the linkage connecting rod 23 and the near-end pitch joint 12 in sequence and is fixed on the joint base 31 of the near-end pitch joint 12. One end of the linkage driving tendon of the linkage yaw joint 14 is fixed on the joint rotating part 32 of the linkage yaw joint 14, and the other end of the linkage driving tendon passes through the roller A33 of the linkage yaw joint 14, the joint base 31 of the linkage yaw joint 14, the linkage pitch joint 13, the linkage connecting rod 23, the near-end pitch joint 12 and the near-end yaw joint 11 in sequence and is fixed on the linkage pre-tightening rod 22. The surgical instrument of the present invention may also have translational degrees of freedom driven entirely by the power source.
In this embodiment, the two active driving tendons or the two linkage driving tendons of each joint are a group of two, two sides of the roller a33 in each joint are respectively provided with a roller B38, the two active driving tendons or the two linkage driving tendons of each joint are respectively in contact with two sides of the roller a33 in the joint and then pass through the joint rotating part 32 in the joint, and then are fixed on the joint rotating part 32 by the chuck 36, the two rollers B38 in each joint are respectively in contact with the two active driving tendons or the two linkage driving tendons of the adjacent inferior joint, and the two active driving tendons or the two linkage driving tendons of the adjacent inferior joint are located on two axial sides of the two contacted rollers B38.
The two adjacent joints of the proximal section and the linkage section have the same degree of freedom, namely the proximal pitch joint 12 is connected with the linkage pitch joint 13 through a linkage connecting rod 23, the linkage yaw joint 14 is connected with the joint group of the distal section, or the proximal yaw joint 11 is connected with the linkage yaw joint 14 through the linkage connecting rod 23, and the linkage pitch joint 13 is connected with the joint group of the distal section. The proximal pitch joint 12 of the present embodiment is connected to the linked pitch joint 13 via a linked connecting rod 23, and the linked yaw joint 14 is connected to the distal yaw joint 15.
In the linkage pitch joint 13 of the present embodiment, the axial center line of the rotating shaft 34 is parallel to the axial center line of the rotating shaft 34 in the proximal pitch joint 12, and the axial center line of the rotating shaft 34 in the linkage yaw joint 14 is parallel to the axial center line of the rotating shaft 34 in the proximal yaw joint 11. The included angle of the axial center lines of the rotating shafts 34 in the two adjacent joints connected with the linkage section and the far end section is any angle, and the axial center lines of the rotating shafts 34 in the two adjacent joints connected with the linkage section and the far end section are parallel.
The linkage connecting rod 23 of the embodiment is divided into two parts with the same shape, namely a connecting rod a231 and a connecting rod B232, the end surfaces of which are semicircular, the connecting rod a231 and the connecting rod B232 are both steel pipes, one end of each of the connecting rods is connected with the joint base in the linkage pitching joint 13, and the other end of each of the connecting rods is connected with the joint rotating part 32 in the near-end pitching joint 12; and pre-tightening the linkage driving tendon of the linkage pitch joint 13 by adjusting the length of the linkage connecting rod 23.
As shown in fig. 8 and 9, the rotating member 17 of the present embodiment includes a rotating shaft base 171, a rotating shaft 172 and a bushing 174, the rotating shaft base 171 is connected to the joint rotating portion 32 of the distal pitch joint 16, one end of the rotating shaft 172 is accommodated in the rotating shaft base 171, the other end is connected to the actuator 18, the rotating shaft 172 is sleeved with the bushing 174 capable of rotating relatively, and the bushing 174 is fixed to the rotating shaft base 171. Two active drive tendons of the rotating component 17 are wound on the rotating shaft 172 respectively, the winding directions of the two active drive tendons are opposite, and the actuator 18 is rotated by driving the two active drive tendons with the opposite winding directions. In this embodiment, two grooves a1721 are formed in the rotating shaft 172, two active driving tendons are wound in the two grooves a1721 in opposite directions, respectively, a groove B1722 is formed in each groove a1721, and the ends of the two active driving tendons are fixed in the grooves B1722 in the grooves a1721 through clamping heads. A U-shaped retainer ring 173 for axially retaining the rotary shaft 172 is fitted in the groove a1721 adjacent to the boss 174, and the U-shaped retainer ring 173 abuts against the boss 174 to prevent the rotary shaft 172 from moving in the axial direction.
The number of the active driving tendons is 12 or even number more than 12, the number of the active driving tendons in the embodiment is 12, and the number of the active driving tendons is 2 respectively including a proximal yaw joint 11, a proximal pitch joint 12, a distal yaw joint 15, a distal pitch joint 16, a rotating component 17 and an actuator 18; the number of the linkage driving tendons is 4 or even number more than 4, the number of the linkage driving tendons is 4 in the embodiment, and the number of the linkage pitch joints 13 and the number of the linkage yaw joints 14 are 2 respectively. The holes on the joint base 31 and the joint rotating part 32 of each joint comprise two near-end yaw joint driving tendon holes 41, two near-end pitch joint driving tendon holes 42, two linkage pitch joint driving tendon holes 43, two linkage yaw joint driving tendon holes 44, two rotating part driving tendon holes 45 and two actuator driving tendon holes 46, and every two same holes are arranged in a diagonal line; the joint base 31 and the joint rotating part 32 of the near-end yawing joint 11, the near-end pitching joint 12, the linkage pitching joint 13 and the linkage yawing joint 14 are also provided with four holes provided with sheath tubes 54, two far-end yawing joint driving tendons 51 and two far-end pitching joint driving tendons 52 pass through the four sheath tubes 54, and the two far-end yawing joint driving tendons 51 and the two far-end pitching joint driving tendons 52 are arranged in a diagonal manner. Specifically, the method comprises the following steps:
as shown in fig. 1 to 4, one end of each of the two proximal yaw joint drive tendons 35 of the proximal yaw joint 11 is inserted through the two proximal yaw joint drive tendon holes 41 on the joint base 31 of the proximal yaw joint 11, contacts with both sides of the roller a33 in the proximal yaw joint 11, then passes through the two proximal yaw joint drive tendon holes 41 on the joint rotating part 32 of the proximal yaw joint 11, and is fixed on the joint rotating part 32 of the proximal yaw joint 11 through the chuck 36. The joint rotating part 32 of the near-end yaw joint 11 can be driven to rotate by pulling the two near-end yaw joint driving tendons 35 through the driving tendon driving mechanism.
One end of each of the two proximal pitch joint drive tendons 37 of the proximal pitch joint 12 is inserted through the two proximal pitch joint drive tendon holes 42 formed in the joint base 31 of the proximal yaw joint 11, is located on both axial sides of the two rollers B38 of the proximal yaw joint 11, is inserted through the two proximal pitch joint drive tendon holes 42 formed in the joint rotating portion 32 of the proximal yaw joint 11, is inserted through the two proximal pitch joint drive tendon holes 42 formed in the joint base 31 of the proximal pitch joint 12, is inserted through the two proximal pitch joint drive tendon holes 42 formed in the joint rotating portion 32 of the proximal pitch joint 12, and is fixed to the joint rotating portion 32 of the proximal pitch joint 12 through the clamp 36. The joint rotating part 32 of the near-end pitching joint 12 can be driven to rotate by pulling the two near-end pitching joint driving tendons 37 through the driving tendon driving mechanism.
As shown in fig. 1 to 5 and 7, one end of each of the two linkage pitch joint driving tendons 39 of the linkage pitch joint 13 is fixed to the joint rotation portion 32 of the linkage pitch joint 13 through a clamp 36, and the other end of each of the two linkage pitch joint driving tendon holes 43 of the joint rotation portion 32 of the linkage pitch joint 13 penetrates through the joint base 31 of the linkage pitch joint 13 after contacting with the two sides of the roller a33 of the linkage pitch joint 13, passes through the inside of the linkage connecting rod 23, sequentially penetrates through the joint rotation portion 32 of the proximal pitch joint 12 and the two linkage pitch joint driving tendon holes 43 of the joint base 31, and is finally fixed to the joint base 31 of the proximal pitch joint 12 through the clamp 36 and is closed in an annular shape.
One end of each of the two linkage yaw joint driving tendons 53 of the linkage yaw joint 14 is fixed on the joint rotating part 32 of the linkage yaw joint 14 through a chuck 36, the other end of each of the two linkage yaw joint driving tendon holes 44 in the joint rotating part 32 of the linkage yaw joint 14 penetrates through the joint base 31 of the linkage yaw joint 14 after passing through the two sides of the roller A33 in the linkage yaw joint 14, then sequentially passes through the joint rotating part 32 of the linkage pitch joint 13 and the two linkage yaw joint driving tendon holes 44 in the joint base 31, sequentially passes through the joint rotating part 32 of the proximal pitch joint 12 and the two linkage yaw joint driving tendon holes 44 in the joint base 31 after passing through the interior of the linkage connecting rod 23, and finally is fixed in the linkage pretensioning rod 22 through a chuck.
As shown in fig. 1 to 6, one end of each of the two distal yaw joint drive tendons 51 of the distal yaw joint 15 is fixed to the joint rotating part 32 of the distal yaw joint 15 through the chuck 36, and the other end of each of the two distal yaw joint drive tendons 51 penetrates through two holes (the joint rotating part 32 of the distal yaw joint 15 and the joint base 31 are not provided with a sheath) on the joint rotating part 32 of the distal yaw joint 15, contacts with both sides of the roller a33 in the distal yaw joint 15, then penetrates out of the joint base 31 of the distal yaw joint 15, penetrates through the sheath 54 on the linkage yaw joint 14, and finally is connected to the drive tendon drive mechanism. The joint rotating part 32 of the far-end yaw joint 15 can be driven to rotate by pulling the two far-end yaw joint driving tendons 51 through the driving tendon driving mechanism.
One end of each of the two distal pitch joint driving tendons 52 of the distal pitch joint 16 is fixed on the joint rotating part 32 of the distal pitch joint 16 through the chuck 36, and the other end of each of the two distal pitch joint driving tendons 52 penetrates through two corresponding sheath mounting holes (the sheath is not mounted on the joint rotating part 32 and the joint base 31 of the distal pitch joint 16) in the joint rotating part 32 of the distal pitch joint 16, contacts with both sides of the roller a33 in the distal pitch joint 16, then penetrates out of the joint base 31 of the distal pitch joint 16, penetrates through the joint rotating part 32 of the distal yaw joint 15 and two corresponding sheath mounting holes in the joint base 31, then penetrates through the sheath 54 on the linked yaw joint 14, and finally is connected with the driving tendon driving mechanism. The joint rotating part 32 of the distal pitching joint 16 can be driven to rotate by pulling the two distal pitching joint driving tendons 52 through the driving tendon driving mechanism.
The two active driving tendons of the rotating component 17 are a right-handed driving tendon 175 and a left-handed driving tendon 176, after the right-handed driving tendon 175 and the left-handed driving tendon 176 are connected with a driving tendon driving mechanism, the two rotating component driving tendon holes 45 on the joint base 31 and the joint rotating part 32 of the proximal yaw joint 11, the two rotating component driving tendon holes 45 on the joint base 31 and the joint rotating part 32 of the proximal pitch joint 12, the linkage connecting rod 23, the joint base 31 and the two rotating component driving tendon holes 45 on the joint rotating part 32 of the linkage pitch joint 13, the two rotating component driving tendon holes 45 on the joint base 31 and the joint rotating part 32 of the linkage yaw joint 14, the two rotating component driving tendon holes 45 on the joint base 31 and the joint rotating part 32 of the distal yaw joint 15, the two rotating component driving tendon holes 45 on the joint base 31 and the joint rotating part 32 of the distal pitch joint 16, and the two rotating component driving tendon holes 45 on the joint rotating part 32 of the distal pitch joint 16 pass through the right-handed driving tendon holes 175 and the left-handed driving tendon holes 176, are respectively wound in the two grooves a1721 on the rotating shaft 172 from the inside of the rotating shaft base 171. The rotating shaft 172 of the rotating component 17 can be driven to rotate by pulling the two right-handed driving tendons 175 and the left-handed driving tendons 176 through the driving tendon driving mechanism.
After the two active driving tendons of the actuator 18 are connected with the driving tendon driving mechanism, the two active driving tendons of the actuator 18 are sequentially passed through the joint base 31 and the two actuator driving tendon holes 46 on the joint rotating part 32 of the proximal yaw joint 11, the joint base 31 and the two actuator driving tendon holes 46 on the joint base 31 and the joint rotating part 32 of the proximal pitch joint 12, the linkage connecting rod 23, the joint base 31 and the two actuator driving tendon holes 46 on the joint rotating part 32 of the linkage pitch joint 13, the joint base 31 and the two actuator driving tendon holes 46 on the joint rotating part 32 of the linkage yaw joint 14, the joint base 31 and the two actuator driving tendon holes 46 on the joint base 31 and the joint rotating part 32 of the distal yaw joint 15, the joint base 31 and the two actuator driving tendon holes 46 on the joint rotating part 32 of the distal pitch joint 16, and then pass through the rotating shaft base 171 and the rotating shaft 172 in the rotating part 17, the two parts of the actuator 18 which can be opened and closed are connected, and the actuator 18 can be opened and closed by pulling the two active driving tendons through the driving tendon driving mechanism.
The sheath tube 54 of the present embodiment may be a hollow tube with flexibility, bending and axial pressure resistance, such as a spring tube or a nickel-titanium tube, one end of the sheath tube 54 is fixed to the joint rotating portion 32 of the linkage yaw joint 14, and the other end of the sheath tube passes through the linkage pre-tightening rod 22 and then is connected to the chuck seat 24 installed inside the base rod 21.
The installation and the principle of the invention are as follows:
the near-end pitch joint 12 and the linkage pitch joint 13 are connected through the linkage connecting rod 23, and the linkage pitch joint driving tendon 39 is pre-tightened by adjusting the length of the linkage connecting rod 23. Then, connecting the near-end yaw joint 11 with the near-end pitch joint 12, sequentially connecting the linkage yaw joint 14, the far-end yaw joint 15, the far-end pitch joint 16, the rotating component 17 and the actuator 18, pulling the chuck seat 24, pre-tightening each driving tendon, and welding the driving tendon inside the base rod piece 21; finally, the base rod 21 is welded to the interlocking pretension bar 22. The driving tendon driving mechanism is used for pulling and controlling each active driving tendon, so that the degree of freedom of each joint is realized.
Claims (10)
1. A surgical instrument for articulating, comprising: the device comprises a base rod piece (21), a linkage pre-tightening rod (22), a near-end section joint group, a linkage connecting rod (23), a linkage section joint group, a far-end section joint group, a rotating part (17) and an actuator (18) which are sequentially connected, wherein each section joint group is provided with a yaw joint and a pitching joint which have the same structure, each yaw joint and each pitching joint comprises a joint base (31), a joint rotating part (32), a roller A (33), a rotating shaft (34) and a roller B (38), the joint base (31) and the joint rotating part (32) are rotatably connected through the rotating shaft (34), the rotating shaft (34) is respectively provided with the roller A (33) and the roller B (38), and the end surfaces of the joint base (31) and the joint rotating part (32) are respectively provided with a plurality of holes for driving tendons to pass through; the axial center line of the rotating shaft (34) of the yaw joint in each section of joint group and the axial center line of the rotating shaft (34) of the pitch joint in the same section of joint group are arranged in a staggered manner; the near-end yawing joint (11) and the near-end pitching joint (12) in the near-end joint group and the far-end yawing joint (15) and the far-end pitching joint (16) in the far-end joint group are driven by respective active driving tendons to realize the degree of freedom, one end of the active driving tendon of the near-end yawing joint (11) is connected with the near-end yawing joint (11), the other end of the active driving tendon of the near-end yawing joint (11) passes through the linkage pre-tightening rod (22) and the base rod piece (21) and then is connected with the driving tendon driving mechanism, one end of the active driving tendon of the near-end pitching joint (12) is connected with the near-end pitching joint (12), the other end of the active driving tendon of the near-end yawing joint (15) passes through the linkage pre-tightening rod (22) and the base rod piece (21) and then is connected with the driving tendon driving mechanism, one end of the active driving tendon of the far-end yawing joint (15) is connected with the far-end yawing joint (15), and the other end of the active driving tendon driving joint group of the far-end yawing joint group (22), The back of the base rod piece (21) is connected with a driving tendon driving mechanism, one end of an active driving tendon of the far-end pitching joint (16) is connected with the far-end pitching joint (16), and the other end of the active driving tendon of the far-end pitching joint passes through the linkage pre-tightening rod (22) and the base rod piece (21) and then is connected with the driving tendon driving mechanism; the rollers A (33) of the near-end yaw joint (11), the near-end pitch joint (12), the far-end yaw joint (15) and the far-end pitch joint (16) are in contact with respective active drive tendons, and the respective rollers B (38) are used for being in contact with the active drive tendons of the adjacent inferior joints; the linkage pitch joint (13) and the linkage yaw joint (14) in the linkage section joint group are connected with respective linkage driving tendons, one end of the linkage driving tendon of the linkage pitch joint (13) is fixed on a joint rotating part (32) of the linkage pitch joint (13), and the other end of the linkage driving tendon of the linkage pitch joint (13) sequentially passes through a roller A (33) of the linkage pitch joint (13), a joint base (31) of the linkage pitch joint (13), a linkage connecting rod (23) and a near-end pitch joint (12) and is fixed on the joint base (31) of the near-end pitch joint (12); one end of a linkage driving tendon of the linkage yawing joint (14) is fixed on a joint rotating part (32) of the linkage yawing joint (14), and the other end of the linkage driving tendon passes through a roller A (33) of the linkage yawing joint (14), a joint base (31) of the linkage yawing joint (14), a linkage pitching joint (13), a linkage connecting rod (23), a near-end pitching joint (12) and a near-end yawing joint (11) in sequence and is fixed on the linkage pre-tightening rod (22).
2. The articulating surgical instrument of claim 1, wherein: the active driving tendons or the linkage driving tendons of each joint are in a group of two, two sides of the roller A (33) in each joint are respectively provided with a roller B (38), the two active driving tendons or the two linkage driving tendons of each joint are respectively in contact with two sides of the roller A (33) in the joint and then penetrate through the joint rotating part (32) in the joint, the two active driving tendons or the two linkage driving tendons in each joint are fixed on the joint rotating part (32) through a clamping head (36), the two rollers B (38) in each joint are respectively in contact with the two active driving tendons or the two linkage driving tendons of the adjacent inferior joint, and the two active driving tendons or the two linkage driving tendons of the adjacent inferior joint are positioned on two axial sides of the two contacted rollers B (38).
3. The articulating surgical instrument of claim 1, wherein: the number of the active driving tendons is at least 12, the number of the near-end yaw joints (11), the number of the near-end pitch joints (12), the number of the far-end yaw joints (15), the number of the far-end pitch joints (16), the number of the rotating parts (17) and the number of the actuators (18) are respectively 2, the number of the linkage driving tendons is at least 4, and the number of the linkage pitch joints (13) and the number of the linkage yaw joints (14) are respectively 2; the holes in the joint base (31) and the joint rotating part (32) of each joint comprise two near-end yaw joint driving tendon holes (41), two near-end pitch joint driving tendon holes (42), two linkage pitch joint driving tendon holes (43), two linkage yaw joint driving tendon holes (44), two rotating part driving tendon holes (45) and two actuator driving tendon holes (46), and every two same holes are arranged in a diagonal line; the joint base (31) and the joint rotating part (32) of the near-end yawing joint (11), the near-end pitching joint (12), the linkage pitching joint (13) and the linkage yawing joint (14) are further provided with four holes provided with sheath pipes (54), two far-end yawing joint driving tendons (51) and two far-end pitching joint driving tendons (52) pass through the four sheath pipes (54), and the two far-end yawing joint driving tendons (51) and the two far-end pitching joint driving tendons (52) are arranged diagonally.
4. The articulating surgical instrument of claim 3, wherein: the sheath tube (54) is a flexible, bendable and axial pressure-resistant hollow tube, one end of the sheath tube (54) is connected with the joint rotating part (32) in the linkage yaw joint (14), and the other end of the sheath tube penetrates through the linkage pre-tightening rod (22) and then is connected with the chuck seat (24) arranged in the base rod piece (21).
5. The articulating surgical instrument of claim 1, wherein: the near-end pitching joint (12) is connected with the linkage pitching joint (13) through a linkage connecting rod (23), the linkage yawing joint (14) is connected with the far-end section joint group, or the near-end yawing joint (11) is connected with the linkage yawing joint (14) through the linkage connecting rod (23), and the linkage pitching joint (13) is connected with the far-end section joint group.
6. The articulating surgical instrument of claim 1, wherein: the axial center line of a rotating shaft (34) in the linkage pitching joint (13) is parallel to the axial center line of a rotating shaft (34) in the near-end pitching joint (12), and the axial center line of the rotating shaft (34) in the linkage yawing joint (14) is parallel to the axial center line of the rotating shaft (34) in the near-end yawing joint (11); the included angle of the axial center lines of the rotating shafts (34) in the two adjacent joints connected with the linkage section and the far-end section is any angle.
7. The articulating surgical instrument of claim 1, wherein: the whole surgical instrument is driven by a power source to have translational freedom.
8. The articulating surgical instrument of claim 1, wherein: the linkage connecting rod (23) is divided into two parts with the same shape, namely a connecting rod A (231) and a connecting rod B (232) with semicircular end faces, one end of each of the connecting rod A (231) and the connecting rod B (232) is connected with a joint base in the linkage pitching joint (13), and the other end of each of the connecting rod A (231) and the connecting rod B (232) is connected with a joint rotating part (32) in the near-end pitching joint (12); and pre-tightening the linkage driving tendon of the linkage pitch joint (13) by adjusting the length of the linkage connecting rod (23).
9. The articulating surgical instrument of claim 1, wherein: the rotating component (17) comprises a rotating shaft base (171), a rotating shaft (172) and a shaft sleeve (174), the rotating shaft base (171) is connected with a joint rotating part (32) in the far-end pitching joint (16), one end of the rotating shaft (172) is contained in the rotating shaft base (171), the other end of the rotating shaft (172) is connected with the actuator (18), the rotating shaft (172) is sleeved with the shaft sleeve (174) capable of rotating relatively, and the shaft sleeve (174) is fixed with the rotating shaft base (171); two active driving tendons of the rotating component (17) are respectively wound on the rotating shaft (172), the winding directions of the two active driving tendons are opposite, and the actuator (18) is rotated by driving the two active driving tendons with opposite winding directions.
10. The articulating surgical instrument of claim 9, wherein: two grooves A (1721) are formed in the rotating shaft (172), two driving tendons are wound in the two grooves A (1721) in opposite directions respectively, a groove B (1722) is formed in each groove A (1721), and the end portions of the two driving tendons are fixed in the grooves B (1722) in the grooves A (1721) through chucks; a U-shaped snap ring (173) for axially limiting the rotating shaft (172) is arranged in a groove A (1721) close to the shaft sleeve (174), and the U-shaped snap ring (173) is abutted against the shaft sleeve (174).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010297457.9A CN113520597B (en) | 2020-04-16 | 2020-04-16 | Surgical instrument with joint linkage |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010297457.9A CN113520597B (en) | 2020-04-16 | 2020-04-16 | Surgical instrument with joint linkage |
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| CN113520597B true CN113520597B (en) | 2022-08-02 |
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| CN113520597A (en) | 2021-10-22 |
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